CN117730221A

CN117730221A - Control method of stability augmentation device and stability augmentation device

Info

Publication number: CN117730221A
Application number: CN202180100192.1A
Authority: CN
Inventors: 谢振生; 刘帅; 庞少阳
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2024-03-19
Also published as: WO2023065164A1

Abstract

The embodiment of the invention provides a control method of a stability augmentation device and the stability augmentation device, wherein the stability augmentation device comprises a load installation part, a connecting assembly, a supporting piece, an elastic piece and a stability augmentation motor, wherein the load installation part is used for detachably connecting a load; the stability augmentation motor drives the connecting component to rotate relative to the supporting piece so as to offset or compensate the shake of the load; the method comprises the following steps: determining whether or not the load mounted on the load mounting portion is detached from the load mounting portion; when it is determined that the load is detached from the load mounting portion, the stability augmentation motor is controlled to maintain the connection assembly in the current position. By adopting the invention, when a user removes the load from the load installation part, the load can be timely detected to be removed from the load installation part, and the stability augmentation motor is further controlled to output driving force to the connecting component, so that the connecting component is kept at the current position.

Description

Control method of stability augmentation device and stability augmentation device

Technical Field

The invention relates to the technical field of automation, in particular to a control method of a stability augmentation device and the stability augmentation device.

Background

Currently, stability augmentation devices include a load mounting portion through which a load may be carried on the stability augmentation device. The stability augmentation device can vertically augment a load (such as a shooting device) borne on the stability augmentation device through the configured stability augmentation motor. In order to reduce the power consumption of the stability augmentation motor when the load is vertically augmented, the stability augmentation device is configured with an elastic member to support the load and provide a balancing force that balances the weight of the load.

In the process of stabilizing the load by the stabilizing device, in some cases, the user wants to replace the load, at this time, the user can detach the load from the load installation part of the stabilizing device, and the load installation part can be quickly pulled up under the action of the tension of the elastic element due to the withdrawal of the gravity applied to the load on the load installation part, so that the user can be possibly injured.

Disclosure of Invention

The embodiment of the invention provides a control method of a stability augmentation device and the stability augmentation device, which are used for ensuring the safety of a user when the load borne on the stability augmentation device is replaced.

In a first aspect, an embodiment of the present invention provides a control method of a stability augmentation device, where the stability augmentation device includes a load installation portion for detachably connecting a load, a connection assembly, a support member, an elastic member, and a stability augmentation motor, where one end of the connection assembly is rotatably connected to the support member, and one end of the connection assembly is connected to the load installation portion, and the load installation portion includes a first mechanical interface for detachably installing the load; the elastic piece is used for providing support for the connecting assembly and balancing force for balancing the load-carrying force; the stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction;

The method comprises the following steps:

determining whether a load mounted on the load mounting portion is detached from the load mounting portion;

when it is determined that the load is detached from the load mounting portion, the stability augmentation motor is controlled to maintain the connection assembly in the current position.

In a second aspect, an embodiment of the present invention provides a stability augmentation device, where the stability augmentation device includes a load installation portion for detachably connecting a load, a connection assembly, a support, an elastic member, a stability augmentation motor, and a processor;

one end of the connecting component is rotationally connected with the supporting piece, and the other end of the connecting component is connected with the load installation part;

the load mount includes a first mechanical interface for removably mounting the load;

the elastic piece is used for providing support for the connecting assembly and balancing force for balancing the load-carrying force;

the stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction;

the processor is used for determining whether the load mounted on the load mounting part is detached from the load mounting part or not; when it is determined that the load is detached from the load mounting portion, the stability augmentation motor is controlled to maintain the connection assembly in the current position.

By adopting the invention, when a user removes the load from the load installation part, the load can be timely detected to be removed from the load installation part, and the stability augmentation motor is further controlled to output driving force to the connecting component, so that the connecting component is kept at the current position, the connecting component and the load installation part cannot be pulled up, the user cannot be injured, and the safety of the user is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 and fig. 2 are schematic structural diagrams of a stability augmentation system according to an embodiment of the present invention, wherein fig. 1 is a side view of the stability augmentation system, and fig. 2 is a top view of the stability augmentation system;

fig. 3 to 5 are schematic structural views of a vertical stability augmentation mechanism in the stability augmentation system of fig. 1 and 2, wherein fig. 3 is a side view of the vertical stability augmentation mechanism, fig. 4 is a cross-sectional view of the vertical stability augmentation mechanism, and fig. 5 is an exploded perspective view of the vertical stability augmentation mechanism;

Fig. 6 is a flowchart of a control method of a stability augmentation device according to an embodiment of the present invention.

A stability augmentation system 100; a stability augmentation device 20;

a load C; a vertical stability augmentation mechanism 22;

a load mounting portion 80; a first mechanical interface 87;

an electrical interface 88; an axial cradle head 24;

a support 60; a stability augmentation motor 62;

an elastic member 50; a connection assembly 223;

a first rail portion 222; a second cross bar portion 224;

a vertical rod portion 226; a fixed portion 228;

vertical extension 2223; vertical extension 2243;

rocker 66

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.

In addition, the sequence of steps in the method embodiments described below is only an example and is not strictly limited.

As shown in fig. 1-5, a stability augmentation system 100 of an embodiment of the present invention may include a stability augmentation instrument 20 and a load C. The stability augmentation device 20 is used for bearing the load C and stabilizing the load C. The load C may be any type of device that requires increased stability. The load C may include a sensing device that senses an environment, and the sensing device may include a photographing device, for example. The sensing device is taken as an example of the photographing device, and it is understood that the photographing device may be replaced with the sensing device. The shooting device can be used for shooting images/videos, can be a camera or a video camera, and can also be a mobile phone or a tablet personal computer with a shooting function.

The stability augmentation system 20 may include a vertical stability augmentation mechanism 22, where the vertical stability augmentation mechanism 22 may counteract or compensate for vertical jitter of the load C, which may vertically augment the load C. The vertical stability augmentation mechanism 22 includes a load mounting portion 80, the load mounting portion 80 being adapted to removably connect a load C, which may be directly or indirectly removably connected to the load mounting portion 80. The load mount 80 includes a first mechanical interface 87 for removably mounting the load C, which is removably mounted on the load mount 80 via the first mechanical interface 87, either directly or indirectly (e.g., via an intermediate component, which may include an axial cradle head). The load mount 80 includes an electrical interface 88 for transmitting control commands and/or power to the load and/or sensed data collected by the load, and the load C directly or indirectly (e.g., via an intermediate component, which may include an axial cradle head) via the electrical interface 88.

In some embodiments, the first mechanical interface 87 may be used to directly and removably connect the load C, for example, the camera may be directly and removably mounted to the load mount 80 via the first mechanical interface 87, and the electrical interface 88 may be used to directly transmit control commands and/or power to the load and/or sensed data collected by the load.

In some embodiments, the stability augmentation system 20 may include an axial cradle head 24, a load C may be detachably connected to the load mounting portion 80 by the axial cradle head 24, the load C may be mounted to the axial cradle head 24, the axial cradle head 24 may be detachably mounted to the first mechanical interface 87, the electrical interface 88 may be electrically connected to the axial cradle head 24, and the control command and/or the power and/or the sensor data collected by the load C may be transmitted to the load C by the axial cradle head 24. The axial cradle head 24 may be used to change the pose of the camera and counteract or eliminate axial shake of the camera. In some cases, axial cradle head 24 may be a triaxial cradle head. The three-axis cradle head can adjust the posture of the shooting device around a navigation direction (yaw) axis, a roll (roll) axis and a pitch (pitch) axis. In some cases, the axial cradle head 24 may also be a two-axis cradle head.

The vertical stability augmentation mechanism 22 includes a support 60. The support 60 may be used to support the vertical stability augmentation mechanism 22. The support 60 may be a hand-held support device for a user to hold, or may be a non-hand-held support device, for example, may be a component provided on an unmanned aerial vehicle, an unmanned ship, etc. for supporting the vertical stability augmentation mechanism 22 and the axial cradle head 24. The support 60 may be considered as part of the vertical stability augmentation mechanism 22, i.e., the vertical stability augmentation mechanism 22 includes the support 60, or the support 60 may be considered as a separate component from the vertical stability augmentation mechanism 22.

The stability augmentation apparatus 20 may include a processor for controlling the vertical stability augmentation mechanism 22 and/or the axial cradle head 24 and the stability augmentation apparatus 20 may further include a sensor for measuring the operating condition of the vertical stability augmentation mechanism 22 and/or the operating condition of the axial cradle head 24. The processor may be disposed on the support 60, or may be disposed at the vertical stability augmentation mechanism 22, the axial pan-tilt 24, or other location of the stability augmentation system 100. There is no limitation in this regard.

The vertical stability augmentation mechanism 22 may include two stability augmentation motors 62, and the number of the stability augmentation motors 62 may be two, so that the vertical stability augmentation mechanism 22 may utilize the stability augmentation motors 62 to drive the load C to move in a vertical opposite direction (to compensate for movement), and is mainly used for counteracting (at least partially counteracting) or compensating for shake of the load C in the vertical direction. Further, the stability of the operation of the load C can be improved, and for example, when the load C is a photographing device, a picture shake phenomenon due to photographing device shake can be improved. The counter-movement is here relative to the shaking of the load C in the vertical direction.

For example, the sensor of the stability augmentation instrument 20 obtains the magnitude of the motion or the magnitude of the change in position of the load C in the vertical direction. The sensor may include a motion sensor for sensing a vibration state of the load in a vertical direction. The processor can calculate parameters such as the rotation direction and the amplitude of the stability augmentation motor 62 according to the magnitude, and generate a control instruction according to the parameters to control the stability augmentation motor 62 to rotate. Rotation of the stability augmentation motor 62 may move the camera a corresponding distance in a reverse direction to timely compensate or cancel (at least partially cancel) the camera's shake in the vertical direction.

Illustratively, the stability augmentation motor 62 may be any type of motor. The term stability augmentation motor is used herein to distinguish it better from other motors.

Compared with passive vertical stability augmentation, the active vertical stability augmentation response time of the motor is shorter. In addition, passive vertical stability augmentation mainly depends on speed abrupt change to enhance stability, and has high requirements on speed change, so that an ideal correction effect on tiny up-and-down fluctuation is difficult to obtain. The active vertical stability enhancement by the motor is also obvious in the micro up-and-down fluctuation improvement effect. Wherein, the passive vertical stability augmentation generally utilizes an elastic member (such as an elastic member 50 appearing later) to restrict the position of the pan-tilt or the photographing device in the vertical direction, and when vertical shake occurs and the load C is shifted in the vertical direction, the elastic member 50 uses its restoring force to reset the load C in the vertical direction.

The installation position of the stability augmentation motor 62 is not limited herein as long as the power for the movement of the load C can be provided. For example, the stability augmentation motor 62 may be mounted on the support 60, and when the number of the stability augmentation motors 62 is two, the two stability augmentation motors 62 may be symmetrically mounted on the support 60.

In addition to the stability augmentation motor 62, the load mount 80, the vertical stability augmentation mechanism 22 includes a connection assembly 223, the connection assembly 223 connecting the stability augmentation motor 62 and the load mount 80. One end of the connection member 223 is connected to the load mounting portion 80, and the other end is rotatably connected to the support member 60. The link assembly 223 is rotatable about the support 60 under the drive of the stability augmentation motor 62. The load mounting portion 80 and the load C thereon are vertically movable by the rotating connection assembly 223. By controlling the movement direction, the movement amplitude and the like of the stability augmentation motor 62, the vertical movement amount of the load C driven by the stability augmentation motor 62 can be counteracted or partially counteracted by the shaking amount of the load C in the vertical direction. When the number of the stability augmentation motors 62 is two, the two stability augmentation motors 62 may be symmetrically installed at both sides of the connection assembly 223.

In the embodiment shown in the figures, the connection assembly 223 includes a four bar linkage that may include a first rail portion 222, a second rail portion 224 opposite the first rail portion 222, and a vertical bar portion 226 connected between the first and second rail portions 222, 224. One ends of the first and second cross bar portions 222 and 224 are rotatably connected to the vertical bar portion 226, respectively, and the other ends of the first and second cross bar portions 222 and 224 are rotatably connected to the fixing portion 228, respectively. The fixed portion 228 is disposed opposite the vertical rod portion 226. The first cross bar portion 222 and the second cross bar portion 224 may be disposed in parallel, and the fixed portion 228 may be considered a relatively stationary member, with the first cross bar portion 222, the second cross bar portion 224, and the vertical bar portion 226 all moving about the fixed portion 228 under the drive of the stability augmentation motor 62. The first cross bar portion 222, the second cross bar portion 224, and the vertical bar portion 226 may be considered as the respective bars of a four bar linkage. When the number of the stability augmentation motors 62 is two, the two stability augmentation motors 62 may be symmetrically installed at both sides of the first and second rail portions 222 and 224.

The stem portion 226 may be integrally formed with the load mount 80 and together form a relatively independent member. The vertical rod portion 226 may be fixedly connected to the load mounting portion 80 in a detachable or non-detachable manner. In some cases, the stator 228 may be considered a separate component from the support 60, the stator 228 may be fixedly mounted to the support 60 in a removable or non-removable manner, or the stator 228 may be integrally formed with the support 60. In some cases, the fixed portion 228 may be part of the support member 60, i.e., the support member 60 may include the fixed portion 228, and the other ends of the first and second rail portions 222 and 224 are respectively rotatably connected to the support member 60, and in particular, the other ends of the first and second rail portions 222 and 224 are respectively rotatably connected to the fixed portion 228 of the support member 60.

The two ends of the first cross bar 222 are respectively connected with the vertical rod 226 and the fixed part 228 in a rotating way, and the connection points of the rotating connection are respectively S1 and S3. The two ends of the second cross bar 224 are respectively hinged with the vertical rod 226 and the fixed part 228, and the connection points are respectively S2 and S4. The connection between the connection points S1 and S3 is S1S3, the connection between the connection points S2 and S4 is S2S4, and the connection points S1S3 and S2S4 are parallel and equal. That is, the four-bar linkage constitutes a parallelogram frame mechanism. The arrangement described above allows the angle between adjacent bars (e.g., the angle between the first cross bar portion 222 and the vertical bar portion 226, or the angle between the second cross bar portion 224 and the vertical bar portion 226) to be varied. The opposite sides always remain parallel regardless of the angle of change. The stem portion 226 may remain upright during relative movement of the sides. The first cross bar portion 222, the second cross bar portion 224, the vertical bar portion 226, and the fixed portion 228 may be considered four sides of a four bar linkage. More precisely, the lines S1S3, S2S4, S1S2 and S3S4 of adjacent connection points are regarded as four sides of the four-bar linkage.

The stability augmentation motor 62 may act on the first cross bar portion 222 or the second cross bar portion 224 to rotate the first cross bar portion 222 and the second cross bar portion 224 clockwise or counterclockwise relative to the fixed portion 228, so as to drive the vertical rod portion 226 to rise or fall. In the illustrated embodiment, the stability augmentation motor 62 is fixedly mounted to the support 60 and provides rotational power to the second rail 224 (or the first rail 222) via a crank and rocker mechanism or rocker 66.

The first rail portion 222 may include a vertical extension 2223. The second cross-bar 224 may include a vertical extension 2243. The vertical extension 2223 and the vertical extension 2243 may form a vertical housing to prevent foreign objects from entering the cavity enclosed by the four bar linkage.

The vertical stability augmentation mechanism 22 may further include an elastic member 50. The elastic member 50 may act on the connection assembly 223 to provide support for the connection assembly 223 and balance the load bearing forces. For example, the elastic member 50 may be connected to the connection assembly 223. The component of the spring force (balancing force) generated by the spring 50 in the vertical direction can be used to balance the weight force of the load, i.e. to provide a component force to the load C opposite to the weight force. In other words, the vertical stability augmentation mechanism 22 is capable of balancing the gravity of the load C by means of the elastic force of the elastic member 50. Without the provision of the resilient member 50, the stability augmentation motor 62 or other components would be required to provide a force to the connection assembly 223 to balance the weight of the load C.

The elastic member 50 may be a spring, such as a coil spring. The elastic member 50 may be mounted in various manners, for example, one end of the elastic member 50 may be mounted on the fixed portion 228 or the supporting member 60, and the other end may be mounted on the vertical rod portion 226, the first cross rod portion 222 or the second cross rod portion 224. The installed elastic member 50 can provide a force to the four-bar mechanism that resists downward rotation of the first and second rail portions 222, 224, thereby acting to balance or partially balance the weight of the load C.

Without the stability augmentation motor 62, the elastic member 50 can passively and naturally cope with the vertical shake of the load C and drive the load C to perform corresponding compensation movement.

The vertical stability augmentation mechanism 22 with the stability augmentation motor 62 and the elastic member 50 can balance the gravity of the load C, and can actively eliminate the influence of the vertical shake of the load C on the load C. It should be noted that the vertical shake generally refers to a shake having a vertical component, that is, as long as the shake of the load C has a component in the vertical direction, it may be referred to as vertical shake.

In some embodiments, the vertical stability augmentation mechanism 22 may further include a transmission member, wherein the transmission member drives the connection assembly 223 to rotate relative to the support member 60 when the stability augmentation motor rotates, and the transmission member connected between the stability augmentation motor 62 and the connection assembly 223 drives the connection assembly 223 to rotate relative to the support member 60 when the stability augmentation motor 62 rotates. The driving members may be connected to the connection assembly 223 and the stability augmentation motor 62, respectively. Further, the driving member may be rotatably connected to the connection assembly 223 and the stability augmentation motor 62, for example, a first end of the driving member is rotatably connected to the stability augmentation motor 62, and a second end of the driving member is rotatably connected to the connection assembly 223. In some cases, the stability augmentation motor 62 is an external rotor motor, the transmission may be eccentrically rotatably coupled to the external rotor of the stability augmentation motor 62, and the first end of the transmission may be eccentrically rotatably coupled to the external rotor of the stability augmentation motor 62.

The number of the stability augmentation motors 62 is two, and the number of the driving pieces is two, wherein the two stability augmentation motors 62 are arranged on two sides of the connecting assembly 223, the two driving pieces are arranged on two sides of the connecting assembly 223, a first end of a first driving piece of the two driving pieces is rotationally connected with a first stability augmentation motor of the two stability augmentation motors 62, a first end of a second driving piece of the two driving pieces is rotationally connected with a second stability augmentation motor of the two stability augmentation motors 62, and a second end of the first driving piece and a second end of the second driving piece are symmetrically rotationally connected with the first cross rod portion 222 or the second cross rod portion 224. The axes of rotation of the two stability augmentation motors 62 are substantially coincident and perpendicular to the length extension direction of the first cross bar portion 222 or the second cross bar portion 224.

In some embodiments, the transmission includes a rocker 66, a first end of the rocker 66 is eccentrically rotatably coupled to the outer rotor of the stability augmentation motor 62, and a second end of the rocker 66 is rotatably coupled to the first rail 222 or the second rail 224. The number of the stability augmentation motors 62 is two, the number of the transmission pieces is two, a first end of a first rocker of the two rockers 66 is rotationally connected with a first stability augmentation motor of the two stability augmentation motors 62, a first end of a second rocker of the two rockers 66 is connected with a second stability augmentation motor of the two stability augmentation motors 62, and second ends of the first rocker and the second rocker are symmetrically hinged to the first cross rod portion 222 or the second cross rod portion 224.

The embodiment of the present invention provides a control method of the stability augmentation system 20, and as described in the previous embodiment, the stability augmentation system 20 may include a load mounting portion 80 for detachably connecting a load, a connection assembly 223, a support member 60, an elastic member 50, and a stability augmentation motor 62. Wherein one end of the connection member 223 is rotatably connected to the support 60, and the other end is connected to the load mounting portion 80. The load mount 80 includes a first mechanical interface 87 for removably mounting the load C. The resilient member 50 is used to provide support for the connection assembly 223 and to counter balance forces to counter balance load forces. The stability augmentation motor 62 rotates the connection assembly 223 relative to the support 60 to counteract or compensate for the jitter of the load C.

When the load mounting portion 80 mounts the load C, the gravity of the load C itself acts on the connection member 223. Assuming that the center of mass of the load C is on the connection member 223, the connection member 223 receives the gravity of the downward pressure of the load C, the upward pulling force outputted from the stability augmentation motor 62, the axial force of the connection member 223 itself, and the pulling force of the elastic member 50, based on the center of mass of the load C.

It will be appreciated that if the resilient member 50 is not provided, the stability augmentation motor 62 will need to output a greater force to balance the weight of the load C, which is more energy consuming and the motor will be prone to heat. Therefore, after the elastic member 50 is installed, the vertical tension provided by the elastic member 50 can offset the gravity of a part of the load C, so that the stability augmentation motor 62 can reduce the force exerted and improve the response capability of the stability augmentation device 20.

It is noted that the pulling force in the vertical direction provided by the elastic member 50, the pulling force outputted by the stability augmentation motor 62, and the gravity of the load C cancel each other, and the pulling force in the horizontal direction provided by the elastic member 50 and the axial force of the connection assembly 223 cancel each other. Thus, the various forces experienced by the connection assembly 223 are balanced with each other, and the connection assembly 223 can achieve a balanced condition.

On this account, when the load C is detached from the load mounting portion 80, the weight of the load applied to the connection member 223 is instantaneously reduced, and the force applied to the connection member 223 is unbalanced. In the case of unbalanced stress on the connection assembly 223, if the connection assembly 223 is not controlled or interfered, the tension of the elastic member 50 can cause the connection assembly 223 to bounce instantaneously, which is easy to hurt people. To solve this problem, it is necessary to detect whether the load C is detached and to control the connection assembly 223 not to pop up when the load C is detached.

Based on the structure of the stability augmentation device 20, an embodiment of the present invention provides a control method of the stability augmentation device 20, as shown in fig. 6, the method includes the following steps:

401. it is determined whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80.

402. When it is determined that the load C is detached from the load mount 80, the stability augmentation motor 62 is controlled to maintain the connection assembly 223 in the current position.

If it is determined that the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80, the control may be switched from the stability augmentation mode to the joint angle control mode. Wherein the articulation angle control mode is used to control the stability augmentation motor 62 to maintain the connection assembly 223 in the current position.

In practice, stability augmentation motor 62 may be controlled to output a force to connection assembly 223 such that connection assembly 223 remains in the current position. The current position may be a position where the connection assembly 223 is located when the load C is detached. Specifically, proportional-integral-derivative (Proportion Integral Differential, PID) control methods may be employed to control the stability augmentation motor 62 to maintain the connection assembly 223 in the current position.

Specifically, a target joint angle corresponding to the connection assembly 223 may be determined, and the stability augmentation motor 62 may be controlled to output a force to the connection assembly 223 such that the target joint angle corresponding to the connection assembly 223 is unchanged. Wherein the target joint angle may be the angle between the connection assembly 223 and the horizontal.

The following embodiments of the present invention provide two implementations for determining whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80, and other implementations may be designed according to requirements in addition to the two ways provided by the embodiments of the present invention, which are not limited to specific implementations.

Optionally, the load mounting portion 80 is provided with an electrical interface 88, and the load C and the load mounting portion 80 may be electrically connected through the electrical interface 88. Based on this, the process of determining whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80 may be implemented as: detecting whether the load C breaks electrical connection with the electrical interface 88; if it is determined that the load C is disconnected from the electrical interface 88, it is determined that the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80, and further, if it is determined that the load C is disconnected from the electrical interface 88 and the driving force of the stability augmentation motor 62 to the connection assembly 223 is greater than the first driving force threshold value, it is determined that the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80.

It should be noted that, in some cases, the user simply disconnects the electrical connection between the load C and the load mounting portion 80, but the load C is still mounted on the load mounting portion 80 and is not removed, and the force applied by the connection assembly 223 is balanced, so that no further control or intervention is required.

In order to ensure that the load C is detached from the load mounting portion 80, the driving force output from the stability augmentation motor 62 may be further detected. If the load C is removed from the load mounting portion 80, the force applied to the connection assembly 223 is unbalanced, and for the automatic control principle, the stability augmentation motor 62 may respond to the driving force output in the vertically downward direction to offset the pulling force of the elastic member 50 in the vertically upward direction. Based on this, it can be determined whether or not the driving force of the stability augmentation motor 62 to the connection assembly 223 is greater than the first driving force threshold value, and if the driving force of the stability augmentation motor 62 to the connection assembly 223 is greater than the first driving force threshold value, it means that the load C mounted on the load mounting portion 80 is indeed detached from the load mounting portion 80.

In one possible implementation, the first driving force threshold may be represented as torque_max, and the actual magnitude of torque_max may be adjusted according to the debug result.

Alternatively, the load mount 80 may include a detection sensor for detecting whether the first mechanical interface 87 is unlocked from the second mechanical interface of the load C. Based on this, the process of determining whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80 may be implemented as: the processor of the stability augmentation apparatus may determine whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80 based on the sensing data detected by the detection sensor.

Alternatively, the detection sensor may be a hall sensor or a reed switch.

In practical applications, a hall sensor or a reed switch may be provided in the load mounting portion 80, and a magnet may be provided in the load C. When the magnet is far away from the hall sensor or the reed switch, the hall sensor or the reed switch cannot be triggered. When the magnet approaches the hall sensor or the reed switch, the hall sensor or the reed switch is triggered. When the hall sensor or the reed switch is triggered, the control device can determine whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80 by detecting the state of the hall sensor or the reed switch.

After determining that the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80, the stability augmentation motor 62 may be controlled to maintain the connection assembly 223 in the current position. Alternatively, the process of controlling the stability augmentation motor 62 to maintain the connection assembly 223 in the current position may be implemented as: the stability augmentation motor 62 is controlled to maintain the connection assembly 223 in the current position for a first preset period of time.

In practical applications, the stability augmentation motor 62 may be controlled to output a driving force to the connection assembly 223 such that the connection assembly 223 remains at the current position for a first preset period of time, thus allowing the user time for reaction and operation.

It will be appreciated that if the stability augmentation motor 62 continues to output driving force to the connection assembly 223, higher power is consumed and that heat may be generated by the stability augmentation motor 62 in the case of high-intensity continuous operation. Accordingly, alternatively, after the connection member 223 is maintained at the current position for a first preset period of time, the stability augmentation motor 62 may be controlled to gradually decrease the driving force to the connection member 223 to 0 so that the connection member 223 moves to the limit position under the elastic force of the elastic member 50.

In practice, the stability augmentation motor 62 may be controlled to gradually unload, i.e., gradually reduce the driving force to the connection assembly 223 to 0. Alternatively, the gradual force-relieving process may be accomplished by reducing the PID parameters. After the stability augmentation motor 62 is de-energized, the connection assembly 223 will gradually lift up under the tension of the elastic member 50 until it is lifted to the upper limit position of the joint angle due to the unbalanced force applied to the connection assembly 223.

Alternatively, if it is detected that the load C is not mounted to the load mounting portion 80 within the second period after the end of the first preset period, the stability augmentation motor 62 is controlled to gradually decrease the driving force to the connection assembly 223 to 0 so that the connection assembly 223 moves to the limit position under the elastic force of the elastic member 50.

Alternatively, the process of detecting whether the load C is mounted to the load mounting portion 80 may be implemented as: if the load C is electrically connected to the electrical interface 88 of the load mounting portion 80 and/or the driving force of the stability augmentation motor 62 on the connection assembly 223 is less than or equal to the second driving force threshold value, it is determined that the load C is mounted to the load mounting portion 80.

In one possible implementation, the second driving force threshold may be represented as torque_min, and the actual magnitude of torque_min may be adjusted according to the debug result.

Further, to ensure that the load C is indeed mounted to the load mounting portion 80, it may alternatively be determined that the load C is mounted to the load mounting portion 80 upon detecting that the load C remains electrically connected to the electrical interface 88 of the load mounting portion 80 for more than a preset period of time.

Alternatively, if it is determined that the load C is not mounted to the load mounting portion 80 within the third period of time after the load C is detected to be detached from the load mounting portion 80, the stability augmentation motor 62 is controlled to gradually decrease the driving force to the connection assembly 223 to 0 after the connection assembly 223 is maintained at the current position for the third set period of time, so that the connection assembly 223 is moved to the limit position by the elastic force of the elastic member 50.

In practical application, when it is determined that the load C is detached from the load mounting portion 80, and if the load C is not mounted back to the load mounting portion 80 for a third period of time, the stability augmentation motor 62 is controlled to gradually reduce the driving force to the connection assembly 223 to 0, so that the connection assembly 223 moves to the limit position under the elastic force of the elastic member 50. In one possible implementation, the third time period may be denoted as t_max, for example, and the third time period may be set to 30s, for example, and of course, the third time period may be adjusted according to actual requirements.

It will be appreciated that in some applications, the user removes the load only to replace another load, rather than actually removing the load, and thus the user may be left with sufficient time to replace another load, which may be a third duration. When the third duration is reached and the user has not yet installed the load back into the load mount 80, indicating that the user does not need to replace the load, the stability augmentation motor 62 may be controlled to gradually unload the force.

Accordingly, if it is determined that the load C is mounted to the load mounting portion 80 within the second period after the end of the first preset period, the stability augmentation motor 62 is controlled to rotate the connection assembly 223 relative to the support 60 to offset or compensate for the vertical shake of the load.

Or, alternatively, if it is determined that the load C is mounted to the load mounting portion 80 for the third preset time period, the stability augmentation motor 62 is controlled to rotate the connection assembly 223 with respect to the support 60 to counteract or compensate for the vertical shake of the load.

If the load C is detected to be mounted on the load mounting portion 80 within the third period of time, it indicates that the user has replaced the load, and the stability augmentation motor 62 may be controlled not to perform the force unloading, but to perform the normal stability augmentation operation, that is, to control the stability augmentation motor 62 to rotate the connection assembly 223 relative to the support member 60 to offset or compensate for the vertical shake of the load.

Alternatively, if it is determined that the load C is mounted to the load mounting portion 80 and the startup stability augmentation information is obtained, the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60, and the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the shake of the load C in the vertical direction.

It should be noted that, when the stability augmentation device 20 detects that the load C is mounted on the load mounting portion 80 and obtains the startup stability augmentation information, the stability augmentation motor 62 may be controlled to drive the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60 according to the startup stability augmentation information, and the stability augmentation motor 62 may be controlled to drive the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the shake of the load C in the vertical direction.

The preset position may be a position designated by a user, and the user may input the designated position to the stability augmentation apparatus 20 according to the personal usage habit of the stability augmentation apparatus 20. This allows for preferential control of the rotation of the connection assembly 223 to the designated position when the stability augmentation instrument 20 is awake.

Alternatively, in response to the stability augmentation motor 62 gradually reducing the driving force to the connection assembly 223 to 0 or the connection assembly 223 moving to the extreme position, the stability augmentation device 20 may be controlled to enter the sleep mode. Accordingly, in the sleep mode, if it is determined that the load C is mounted to the load mounting portion 80 and the startup stability augmentation information is obtained, the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60, and the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the shake of the load C in the vertical direction.

After the stability augmentation electric motor 62 is de-energized, the stability augmentation instrument 20 may be controlled to enter a sleep mode to reduce power consumption. When the user wants to reuse the stability augmentation instrument 20, a load C may be installed and wake-up the stability augmentation instrument 20. When the user wakes up the stability augmentation device 20, the stability augmentation device 20 may acquire startup stability augmentation information, and then the stability augmentation device 20 may operate the stability augmentation motor 62 according to the startup stability augmentation information.

Optionally, the stability augmentation device 20 may further comprise interaction means for detecting user operation. The process of acquiring the startup stability enhancement information can be implemented as follows: and if the start stability augmentation operation of the user on the interactive device is detected, generating start stability augmentation information.

For example, a wake-up key may be set in the stability augmentation device, the wake-up key may be the interaction device, and the start of the stability augmentation operation may be a click operation of the wake-up key. When the user clicks the wake-up button, the sleep mode may be switched to the stability augmentation mode.

A further exemplary embodiment of the present invention provides a stability augmentation device 20, as shown in fig. 1-5, comprising: a load mounting portion 80 for detachably connecting the load C, a connection assembly 223, a support 60, an elastic member 50, a stability augmentation motor 62, and a processor (not shown in the drawings);

The connecting component 223 has one end rotatably connected to the supporting member 60 and one end connected to the load mounting portion 80;

the load mount 80 includes a first mechanical interface 87 for removably mounting the load C;

the spring 50 for providing support to the connection assembly 223 and balancing forces for balancing the load carrying forces;

the stability augmentation motor 62 drives the connection assembly 223 to rotate relative to the support 60 to counteract or compensate for the shake of the load C;

the processor is used for determining whether the load C mounted on the load mounting part 80 is detached from the load mounting part 80; when it is determined that the load C is detached from the load mounting portion 80, the stability augmentation motor 62 is controlled to maintain the connection assembly 223 in the current position.

Optionally, the load mount 80 includes an electrical interface 88 for transmitting control instructions and/or power to the load and/or sensed data collected by the load;

the processor is configured to detect whether the load C breaks an electrical connection with the electrical interface 88; if it is determined that the load C is disconnected from the electrical connection with the electrical interface 88 and the driving force of the stability augmentation motor 62 to the connection assembly 223 is greater than a first driving force threshold, it is determined that the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80.

Optionally, the load mount 80 includes a detection sensor for detecting whether the first mechanical interface 87 is unlocked from the second mechanical interface of the load C;

the processor is configured to determine whether the load C mounted on the load mounting portion 80 is detached from the load mounting portion 80 based on the sensing data detected by the detection sensor.

Optionally, the detection sensor is a hall sensor or a reed switch.

Optionally, the processor is configured to:

the stability augmentation motor 62 is controlled to maintain the connection assembly 223 in the current position for a first preset period of time.

Optionally, the processor is further configured to:

after the connection member 223 is maintained at the current position for the first preset period of time, the stability augmentation motor 62 is controlled to gradually decrease the driving force to the connection member 223 to 0 so that the connection member 223 moves to the limit position under the elastic force of the elastic member 50.

Optionally, the processor is further configured to:

if it is determined that the load C is not mounted to the load mounting portion 80 within the second period after the end of the first preset period, the stability augmentation motor 62 is controlled to gradually decrease the driving force to the connection assembly 223 to 0, so that the connection assembly 223 moves to the limit position under the elastic force of the elastic member 50.

Optionally, the processor is further configured to:

if it is determined that the load C is mounted to the load mounting portion 80 within the second period after the first preset period is completed, the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support 60 so as to offset or compensate for the shake of the load C in the vertical direction.

Optionally, the processor is further configured to:

if it is determined that the load C is not mounted to the load mounting portion 80 within a third period of time after the load C is detected to be dismounted from the load mounting portion 80, after the connection assembly 223 is maintained at the current position for a third set period of time, the stability augmentation motor 62 is controlled to gradually reduce the driving force to the connection assembly 223 to 0 so that the connection assembly 223 moves to the limit position under the elastic force of the elastic member 50; and/or the number of the groups of groups,

if it is determined that the load C is mounted to the load mounting portion 80 during the third preset time period, the stability augmentation motor 62 is controlled to rotate the connection assembly 223 relative to the support member 60 to offset or compensate for the shake of the load C in the vertical direction.

Optionally, the processor is further configured to:

if it is determined that the load C is mounted on the load mounting portion 80 and the startup stability augmentation information is obtained, the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60, and the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the shake of the load C in the vertical direction.

Optionally, the processor is further configured to:

controlling the stability augmentation device 20 to enter a sleep mode in response to the stability augmentation motor 62 gradually decreasing the driving force to the connection assembly 223 to 0 or the connection assembly 223 moving to an extreme position;

if it is determined that the load C is mounted on the load mounting portion 80 and the startup stability augmentation information is obtained, the control stability augmentation motor 62 drives the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60, and the control stability augmentation motor 62 drives the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the vertical shake of the load C, which includes:

in the sleep mode, if it is determined that the load C is mounted on the load mounting portion 80 and the startup stability augmentation information is obtained, the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate from the limit position to the preset position relative to the support 60, and the stability augmentation motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support 60 to offset or compensate for the shake of the load C in the vertical direction.

Optionally, the stability augmentation device 20 further includes interaction means for detecting user operation;

and the processor is also used for generating the starting stability augmentation information if the starting stability augmentation operation of the user on the interactive device is detected.

Optionally, the processor is further configured to:

if the load C is electrically connected to the electrical interface 88 of the load mounting portion 80 and/or the driving force of the stability augmentation motor 62 on the connection assembly 223 is less than or equal to the second driving force threshold value, determining that the load C is mounted to the load mounting portion 80;

the electrical interface 88 is used for transmitting control instructions and/or power to the load C and/or sensing data acquired by the load C.

Optionally, the connecting assembly 223 includes a first rail portion 222, a second rail portion 224 opposite the first rail portion 222, and a vertical rod portion 226 connected between the first rail portion 222 and the second rail portion 224, the vertical rod portion 226 being connected to the load mounting portion 80;

the load mounting portion 80 is for carrying a load C.

Alternatively, the number of the stability augmentation motors 62 is two; the two stability augmentation motors 62 are used for driving the connecting assembly 223 to rotate around the supporting piece 60;

the two stability augmentation motors 62 are located on either side of the connection assembly 223.

Optionally, the stability augmentation device further comprises a transmission member;

when the stability augmentation motor 62 rotates, the driving member drives the connection assembly 223 to rotate relative to the support member 60.

Alternatively, one end of the driving member eccentrically rotates an outer rotor connected to the stability augmentation motor 62.

Optionally, the number of the transmission parts is two;

the number of the stability augmentation motors 62 is two;

the two transmission members are positioned at two sides of the connecting assembly 223, wherein a first end of a first transmission member of the two transmission members is connected with a first stability augmentation motor of the two stability augmentation motors 62, and a first end of a second transmission member of the two transmission members is connected with a second stability augmentation motor of the two stability augmentation motors 62; the second ends of the first and second transmission members are symmetrically hinged to the connection assembly 223.

Optionally, the stability augmentation system 20 further includes a sensor for acquiring a movement magnitude or a position change magnitude of the load C in the vertical direction;

the processor is further configured to calculate a rotation direction and an amplitude of the stability augmentation motor 62 according to the motion value or the position change value, and generate a control instruction according to the rotation direction and the amplitude of the stability augmentation motor 62 to control the rotation of the stability augmentation motor 62.

The stability augmentation device may perform the method of the embodiment shown in fig. 6, and reference is made to the relevant description of the embodiment shown in fig. 1-6 for parts of this embodiment not described in detail. The implementation process and the technical effect of this technical solution are described in the embodiments shown in fig. 1 to 6, and are not described herein.

The technical schemes and technical features in the above embodiments can be independent or combined under the condition of no conflict, and all the technical schemes and technical features in the above embodiments belong to equivalent embodiments within the protection scope of the invention as long as the technical scope of the technical scheme and the technical features does not exceed the cognitive scope of the technical personnel in the field.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

The control method of the stability augmentation device is characterized in that the stability augmentation device comprises a load installation part, a connecting assembly, a supporting piece, an elastic piece and a stability augmentation motor, wherein the load installation part is used for detachably connecting a load; the elastic piece is used for providing a balance force for supporting and balancing the gravity of the load for the connecting assembly; the stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction;

The method comprises the following steps:

determining whether a load mounted on the load mounting portion is detached from the load mounting portion;

when it is determined that the load is detached from the load mounting portion, the stability augmentation motor is controlled to maintain the connection assembly in the current position.
The method of claim 1, wherein the load mount comprises an electrical interface for transmitting control instructions and/or power to the load and/or sensed data acquired by the load,

the determining whether the load mounted on the load mounting portion is detached from the load mounting portion includes:

detecting whether the load breaks electrical connection with the electrical interface;

and if the load is determined to be disconnected from the electrical interface, determining that the load mounted on the load mounting part is detached from the load mounting part.
The method of claim 1, wherein the load mount includes a detection sensor for detecting whether the first mechanical interface is unlocked from a second mechanical interface of a load, the determining whether a load mounted on the load mount is detached from the load mount comprising:

And determining whether the load mounted on the load mounting portion is detached from the load mounting portion based on the sensing data detected by the detection sensor.
A method according to claim 3, wherein the detection sensor is a hall sensor or a reed switch.
The method of any of claims 1-4, wherein the controlling the stability augmentation motor to maintain the connection assembly in a current position comprises:

and controlling the stability augmentation motor to enable the connecting assembly to be kept at the current position for a first preset time period.
The method of claim 5, wherein the method further comprises:

after the connecting component is kept at the current position for the first preset time, the stability augmentation motor is controlled to gradually reduce the driving force of the connecting component to 0 so that the connecting component moves to the limit position under the elastic action of the elastic piece.
The method of claim 5, wherein the method further comprises:

if the fact that the load is not mounted to the load mounting portion is determined in a second time period after the first preset time period is finished, the stability augmentation motor is controlled to gradually reduce the driving force of the connecting assembly to 0, and therefore the connecting assembly moves to the limit position under the elastic force of the elastic piece.
The method according to claim 5 or 7, characterized in that the method further comprises:

if the load is determined to be mounted on the load mounting part within the second time after the first preset time is finished, controlling the stability augmentation motor to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The method according to any one of claims 1-4, further comprising:

if the load is determined to be not mounted on the load mounting part within a third period of time after the load is detected to be dismounted from the load mounting part, after the connecting component is kept at the current position for a preset third period of time, controlling the stability augmentation motor to gradually reduce the driving force on the connecting component to 0 so that the connecting component moves to the limit position under the elastic force of the elastic component; and/or the number of the groups of groups,

and if the load is determined to be mounted on the load mounting part in the third preset time period, controlling the stability augmentation motor to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The method according to claim 6, 7 or 9, characterized in that the method further comprises:

If the load is determined to be mounted on the load mounting part and the start stability augmentation information is acquired, the stability augmentation motor is controlled to drive the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the stability augmentation motor is controlled to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The method according to claim 10, wherein the method further comprises:

controlling the stability augmentation device to enter a sleep mode in response to the stability augmentation motor gradually reducing the driving force to the connection assembly to 0 or the connection assembly moving to an extreme position;

if it is determined that the load is mounted on the load mounting portion and the startup stability augmentation information is obtained, the control stability augmentation motor drives the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the control stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece to offset or compensate for the shake of the load in the vertical direction, and the control stability augmentation motor comprises:

in the sleep mode, if the load is determined to be mounted on the load mounting part and the start stability augmentation information is acquired, the stability augmentation motor is controlled to drive the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the stability augmentation motor is controlled to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The method according to claim 10 or 11, wherein the stability augmentation device further comprises interaction means for detecting user operation, the method further comprising:

and if the starting stability augmentation operation of the user on the interactive device is detected, generating the starting stability augmentation information.
The method according to claim 8 or 9, characterized in that the method further comprises:

if the load is electrically connected with the electrical interface of the load installation part and/or the driving force of the stability augmentation motor on the connecting assembly is smaller than or equal to a second driving force threshold value, determining that the load is installed on the load installation part;

the electrical interface is used for transmitting control instructions and/or power to the load and/or the electrical interface of the sensing data acquired by the load.
The method of claim 1, wherein the connection assembly includes a first rail portion, a second rail portion opposite the first rail portion, and a vertical bar portion connected between the first and second rail portions, the vertical bar portion being connected to the load mounting portion.
The method of claim 1, wherein the number of stability augmentation motors is two, the two stability augmentation motors being used to drive the connection assembly to rotate about the support, the two stability augmentation motors being located on either side of the connection assembly.
The method of claim 1, wherein the stability augmentation system further comprises a drive member through which the stability augmentation motor rotates to rotate the connection assembly relative to the support member.
The method of claim 16, wherein one end of the driving member eccentrically rotates an outer rotor coupled to the stability augmentation motor.
The method of claim 16, wherein the number of driving members is two, the number of stability augmentation motors is two, two driving members are positioned at two sides of the connecting assembly, wherein a first end of a first driving member of the two driving members is connected with a first stability augmentation motor of the two stability augmentation motors, a first end of a second driving member of the two driving members is connected with a second stability augmentation motor of the two stability augmentation motors, and the second ends of the first driving member and the second driving member are symmetrically hinged to the connecting assembly.
The method of claim 1, wherein the stability augmentation device further comprises:

the sensor is used for acquiring the motion value or the position change value of the load in the vertical direction;

and the processor is used for calculating the rotation direction and the amplitude of the stability augmentation motor according to the motion magnitude or the position change magnitude and generating a control instruction according to the rotation direction and the amplitude of the stability augmentation motor so as to control the rotation of the stability augmentation motor.
The stability augmentation device is characterized by comprising a load installation part, a connecting assembly, a supporting piece, an elastic piece, a stability augmentation motor and a processor, wherein the load installation part is used for detachably connecting a load;

one end of the connecting component is rotationally connected with the supporting piece, and the other end of the connecting component is connected with the load installation part;

the load mount includes a first mechanical interface for removably mounting the load;

the elastic piece is used for providing support for the connecting assembly and balancing force for balancing the load-carrying force;

the stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction;

the processor is configured to:

determining whether a load mounted on the load mounting portion is detached from the load mounting portion;

when it is determined that the load is detached from the load mounting portion, the stability augmentation motor is controlled to maintain the connection assembly in the current position.
The stability augmentation apparatus of claim 20, wherein the load mount comprises an electrical interface for transmitting control instructions and/or power to the load and/or sensed data acquired by the load;

The processor is configured to:

detecting whether the load breaks electrical connection with the electrical interface;

and if the load is determined to be disconnected from the electrical interface, determining that the load mounted on the load mounting part is detached from the load mounting part.
The stability augmentation apparatus of claim 20, wherein the load mounting portion comprises a detection sensor to detect whether the first mechanical interface is unlocked from a second mechanical interface of a load;

the processor is used for determining whether the load mounted on the load mounting part is detached from the load mounting part according to the sensing data detected by the detection sensor.
The stability augmentation system of claim 22, wherein the detection sensor is a hall sensor or a reed switch.
The stability augmentation apparatus of any of claims 20-23, wherein the processor is configured to:

and controlling the stability augmentation motor to enable the connecting assembly to be kept at the current position for a first preset time period.
The stability augmentation apparatus of claim 24, wherein the processor is further configured to:

After the connecting component is kept at the current position for the first preset time, the stability augmentation motor is controlled to gradually reduce the driving force of the connecting component to 0 so that the connecting component moves to the limit position under the elastic action of the elastic piece.
The stability augmentation apparatus of claim 24, wherein the processor is further configured to:

if the fact that the load is not mounted to the load mounting portion is determined in a second time period after the first preset time period is finished, the stability augmentation motor is controlled to gradually reduce the driving force of the connecting assembly to 0, and therefore the connecting assembly moves to the limit position under the elastic force of the elastic piece.
The stability augmentation apparatus of claim 24 or 26, wherein the processor is further configured to:

if the load is determined to be mounted on the load mounting part within the second time after the first preset time is finished, controlling the stability augmentation motor to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The stability augmentation apparatus of any of claims 20-23, wherein the processor is further configured to:

if the load is determined to be not mounted on the load mounting part within a third period of time after the load is detected to be dismounted from the load mounting part, after the connecting component is kept at the current position for a preset third period of time, controlling the stability augmentation motor to gradually reduce the driving force on the connecting component to 0 so as to enable the connecting component to move to the limit position under the action of the elastic force of the elastic component; and/or the number of the groups of groups,

And if the load is determined to be mounted on the load mounting part in the third preset time period, controlling the stability augmentation motor to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The stability augmentation apparatus of claim 25, 26, or 28, wherein the processor is further configured to:

if the load is determined to be mounted on the load mounting part and the start stability augmentation information is acquired, the stability augmentation motor is controlled to drive the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the stability augmentation motor is controlled to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The stability augmentation apparatus of claim 29, wherein the processor is further configured to:

controlling the stability augmentation device to enter a sleep mode in response to the stability augmentation motor gradually reducing the driving force to the connection assembly to 0 or the connection assembly moving to an extreme position;

if it is determined that the load is mounted on the load mounting portion and the startup stability augmentation information is obtained, the control stability augmentation motor drives the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the control stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece to offset or compensate for the shake of the load in the vertical direction, and the control stability augmentation motor comprises:

In the sleep mode, if the load is determined to be mounted on the load mounting part and the start stability augmentation information is acquired, the stability augmentation motor is controlled to drive the connecting assembly to rotate to a preset position relative to the supporting piece from the limit position, and the stability augmentation motor is controlled to drive the connecting assembly to rotate relative to the supporting piece so as to offset or compensate the shake of the load in the vertical direction.
The stability augmentation apparatus of claim 29 or 30, further comprising interaction means for detecting user operation;

and the processor is also used for generating the starting stability augmentation information if the starting stability augmentation operation of the user on the interactive device is detected.
The stability augmentation apparatus of claim 27 or 28, wherein the processor is further configured to:

if the load is electrically connected with the electrical interface of the load installation part and/or the driving force of the stability augmentation motor on the connecting assembly is smaller than or equal to a second driving force threshold value, determining that the load is installed on the load installation part;

the electrical interface is used for transmitting control instructions and/or power to the load and/or the electrical interface of the sensing data acquired by the load.
The stability augmentation apparatus of claim 20, wherein the connection assembly comprises a first rail portion, a second rail portion opposite the first rail portion, and a vertical rod portion connected between the first rail portion and the second rail portion, the vertical rod portion being connected to the load mounting portion.
The stability augmentation apparatus of claim 20 wherein the number of stability augmentation motors is two; the two stability augmentation motors are used for driving the connecting assembly to rotate around the supporting piece;

the two stability augmentation motors are positioned on two sides of the connecting assembly.
The stability augmentation system of claim 20 further comprising a transmission element;

and the stability augmentation motor drives the connecting assembly to rotate relative to the supporting piece through the transmission piece when rotating.
The stability augmentation apparatus of claim 35, wherein one end of the transmission member eccentrically rotates an outer rotor coupled to the stability augmentation motor.
The stability augmentation system of claim 35 wherein the number of driving elements is two;

the number of the stability augmentation motors is two;

the first end of a first transmission piece of the two transmission pieces is connected with a first stability augmentation motor of the two stability augmentation motors, and the first end of a second transmission piece of the two transmission pieces is connected with a second stability augmentation motor of the two stability augmentation motors; the second ends of the first transmission piece and the second transmission piece are symmetrically hinged to the connecting assembly.
The stability augmentation apparatus of claim 20, further comprising a sensor to obtain a magnitude of movement or a magnitude of change in position of the load in a vertical direction;

the processor is also used for calculating the rotation direction and the amplitude of the stability augmentation motor according to the motion quantity value or the position change quantity value, and generating a control instruction according to the rotation direction and the amplitude of the stability augmentation motor so as to control the rotation of the stability augmentation motor.